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Delta CMC-EC01 Operation Manual

Ethercat
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CMC-EC01
EtherCAT Operation Manual
Applicable Products:
CMC-EC01 (C2000 Plus / CH2000 Option Card)
DELTA_IA-MDS_VFD-C2000 Series_CMM-EC01_OM_EN_20230221

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Summary of Contents for Delta CMC-EC01

  • Page 1 CMC-EC01 EtherCAT Operation Manual Applicable Products: CMC-EC01 (C2000 Plus / CH2000 Option Card) DELTA_IA-MDS_VFD-C2000 Series_CMM-EC01_OM_EN_20230221...
  • Page 2 Limitation of Liability The contents of this user manual are only for the use of the product manufactured by Delta. Except as defined in special mandatory laws, Delta provides this user manual “as is” and does not offer any kind of warranty through this user manual for using the product, either express or implied, including but not limited to the following: (i) this product will meet your needs or expectations;...
  • Page 3 If you have any question or concern, please contact your local Delta distributor. Our professional staff will be very glad to help you.

  • Page 4: Table Of Contents

    EtherCAT Option Card CMC-EC01 Table of Contents Introduction to Option Card ......................6 1.1 Communication Specification ....................6 1.2 Product Profile........................8 1.2.1 Dimension ........................8 1.2.2 Components Overview ....................8 1.3 LED Indicators ........................9 1.4 RJ45 PIN Definition ........................ 9 1.5 Applicable Models ........................
  • Page 5 6.1 Drive Warning/Fault Codes ....................39 6.2 SDO Abort Code ........................40 Operation Example ........................41 7.1 Delta PLC – AX-8 Operation Example (Designer-AX (Codesys base)) ....... 41 7.2 Delta PLC – AH10EMC Operation Example (ECAT Builder) ..........50 Appendix A. Object Descriptions ..................... 59 A.1 Object Specifications......................

  • Page 6: Introduction To Option Card

    EtherCAT Option Card CMC-EC01 1. Introduction to Option Card 1.1 Communication Specification  Ethernet Specifications Item Specification Interface RJ45 Port Number Communication Mode IEEE802.3, IEEE802.3u Cable Category 5e shielding 100 M Transmission Speed 10 / 100 Mbps Auto-Defect Communication Protocol EtherCAT...
  • Page 7 EtherCAT Option Card CMC-EC01  Electrical Specifications Item Specification Power Voltage 15 V (supplied by the drive) Power Consumption 0.8 W Insulation Voltage 500 V Weight (approx.) 27 g CMC-EC01 Operation Manual 7...

  • Page 8: Product Profile

    EtherCAT Option Card CMC-EC01 1.2 Product Profile 1.2.1 Dimension Umit: mm [inch] 1.2.2 Components Overview ⑦ IN LINK indicator ① Screw fixing hole ⑧ Fool-proof groove ② Option card positioning hole ⑨ RJ45 port ③ RUN indicator ⑩ RJ45 port ④...

  • Page 9: Led Indicators

    EtherCAT Option Card CMC-EC01 1.3 LED Indicators Name Indicator Status Indication Always ON Normal operation Pre-operation (ON/OFF 200 ms) Green Flashes Light Safe mode operation (ON 200 ms / OFF 1000 ms) Initial state Basic configuration error (ON/OFF 200 ms)

  • Page 10: Installation

    EtherCAT Option Card CMC-EC01 2. Installation This chapter introduces how CMC-EC01 is connected with C2000 series, and how it is connected to the network. Mounting Position of Option Card Before mounting the option card, remove the digital keypad and top cover. Be sure to follow the steps below to prevent damage to the drive during installation.
  • Page 11 EtherCAT Option Card CMC-EC01 Frame E Screw Torque: 12–15 kg-cm / (10.4–13 lb-in.) / (1.2–1.5 Nm) Frame F Screw Torque: 12–15 kg-cm / (10.4–13 lb-in.) / (1.2–1.5 Nm) Frame G Screw Torque: 12–15 kg-cm / (10.4–13 lb-in.) / (1.2–1.5 Nm)
  • Page 12 10 Ditigal Keypad in C2000 series user manuals. Communication extension card (Slot 1) ○ ○ Slot 2 ② CMC-PD01; CMC-DN01; CMC-EIP01; EMC-COP01; CMC-EC01; Slot 1 CMC-PN01 I/O & relay extension card (Slot 3) ③ EMC-D42A; EMC-D611A; EMC-A22A; EMC-R6AA; EMC-BPS01 PG card (Slot 2) ④...

  • Page 13: Mounting And Detatching Option Card

    EtherCAT Option Card CMC-EC01 Mounting and Detatching Option Card 2.2.1 Moutning the Option Card As the figure on the left shows, place the insulation spacer into the positioning pin first. Next, aim the two holes on PCB at the positioning pins, and then press downward to have the two clips engage the PCB.

  • Page 14: Detaching The Option Card

    EtherCAT Option Card CMC-EC01 2.2.2 Detaching the Option Card CMC-EC01 Operation Manual...

  • Page 15: Network Connection

    Pay attention to the connection method for EtherCAT because its packet delivery is directional. When front-mounting the communication card, the delivery direction for CMC-EC01 is from left (IN) to right (OUT). The diagram below shows the correct wiring for front-mounting CMC-EC01.

  • Page 16: Esi

    EtherCAT Option Card CMC-EC01 The CMC-EC01 ESI file can be downloaded from Deltas official download center:  https://downloadcenter.deltaww.com/en-US/DownloadCenter The file name for C2000 series description files is:  C2000 Plus: DELTA_IA-MDS_C2000Plus_CMC-EC01_Vx-xx_EC_EP_yyyymmdd.xml CH2000: DELTA_IA-MDS_CH2000_CMC-EC01_Vx-xx_EC_EP_yyyymmdd.xml NOTE: Vx-xx is the firmware version of the EtherCAT card.

  • Page 17: Introduction To Ethercat

    EtherCAT Option Card CMC-EC01 3. Introduction to EtherCAT Protocol EtherCAT (Ethernet for Control Automation Technology) - Ethernet network control automation technology was originally developed by Beckhoff Company in Germany based on the Ethernet network communication protocol, and applied to the open real-time field bus (Fieldbus) in the field of automation and industrial control technology.

  • Page 18: State Machine

    EtherCAT Option Card CMC-EC01 State Machine State Description: State Description Drive has successfully completed initialization after power-up without Init any errors; there is no communication in the application layer. Pre-Operational Mailbox communication can be used at present. PDO input data (TxPDO) can be read.

  • Page 19: System Settings

    EtherCAT Option Card CMC-EC01 4. System Settings Synchronous Mode The drive supports two synchronization modes: Free Run Mode and DC-Synchronous Mode. Note that free-running mode is still defined as "synchronous mode" in the EtherCAT specification by the EtherCAT Technology Group (ETG).

  • Page 20: Sync Mode Selection

    DC-Synchronous mode or Free Run mode can be selected by following steps: 1. Select Drive 1 (C2000 Plus (CMC-EC01 Card)) in the left window of TwinCAT 2. Select DC-Synchronous or Free Run as the operation mode under the DC tab in the right window.

  • Page 21: Synchronous Clock Setting

    Synchronous Clock Setting Data exchange cycle can be set by following steps: 1. Select Drive 1 (C2000 Plus (CMC-EC01 Card)) in the left window of TwinCAT. 2. Click Advanced Settings under the DC tab in the right window. 3. In the pop-up window, set the synchronization cycle time in SYNC0  Cycle Time  Sync Unit Cycle.

  • Page 22: Pdo Mapping Configuration

    EtherCAT Option Card CMC-EC01 PDO Mapping Configuration 4.2.1 Default PDO Mapping Configuration The tables below are the default PDO mapping configurations of EtherCAT drive for data exchange, which is also defined in the XML file of EtherCAT slave. The RxPDO and TxPDO of each group can be worked with each other.

  • Page 23: Pdo Mapping Setting

    EtherCAT Option Card CMC-EC01 4.2.2 PDO Mapping Setting The steps to set PDO mapping are as follows: 1. Disable PDO configuration: OD 1C12 sub 0 = 0 (RxPDO), OD 1C13 sub 0 = 0 (TxPDO) 2. Disable PDO mapping settings: OD 1600 sub 0 = 0 (RxPDO), OD 1A01 sub 0 = 0 (TxPDO) Set the content and number of RxPDO mapping objects: OD 1600–1603 sub 1–sub 8 sets the...

  • Page 24: Cia402 Device Specification

    EtherCAT Option Card CMC-EC01 5. CiA402 Device Specification This chapter describes the motion modes defined by the CiA402 specification under the EtherCAT communication protocol, including its basic operations and related object settings. The host computer controls the drive through the control word (controlword, OD 6040h), reads the present drive status by reading the status word (statusword, OD 6041h), and the drive completes the motor motion behavior according to the control instructions of the host computer.
  • Page 25 EtherCAT Option Card CMC-EC01 There are nine states in the three sections: State Description Start Boot Not Ready to Switch On Drive is in the process of initializing Switch On Disable Drive initialization is completed Drive is waiting to enter Switch On, and the motor is...

  • Page 26: Ethercat Operation Mode

    EtherCAT Option Card CMC-EC01 EtherCAT Operation Mode 5.2.1 Profile Position Mode After the drive receives the position command sent by host, it controls the motor to reach the target position. In this mode, host only gives drive target position, speed command and acceleration and deceleration settings at the beginning.
  • Page 27 EtherCAT Option Card CMC-EC01 The corresponding control commands are as follows: Steps Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description Shutdown (Close) Switch On (Drive Servo On Ready) Enable Operation (Drive Servo On) Command Trigger (Rising-edge Trigger) Read drive information 1.
  • Page 28 EtherCAT Option Card CMC-EC01 Index Name Data Type Attribute PDO Mapping 607Ah Target position INTEGER32 607Dh Software position limit INTEGER32 6080h Max motor speed UNSIGNED32 6081h Profile velocity UNSIGNED32 6083h Profile acceleration UNSIGNED32 6084h Profile deceleration UNSIGNED32 6085h Quick stop deceleration...

  • Page 29: Profile Torque Mode

    EtherCAT Option Card CMC-EC01 5.2.2 Profile Torque Mode After the drive receives the torque command sent by host, it controls the motor to reach the target torque. In this mode, the target torque, torque curve and other settings are given by the host. Motion is planned and executed by the drive motion command generator.
  • Page 30 EtherCAT Option Card CMC-EC01 Related Object List Index Name Data Type Attribute PDO Mapping 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Mode of operation INTEGER8 6061h Mode of operation display INTEGER8 6071h Target torque INTEGER16 6072h Max torque UNSIGNED16 6075h...

  • Page 31: Velocity Mode

    EtherCAT Option Card CMC-EC01 5.2.3 Velocity Mode The host sends the speed command, acceleration and deceleration and other information to the drive, and the drive executes related speed control behaviors. vl target velocity (6042 vl velocity actual vl ramp function time (604F...
  • Page 32 EtherCAT Option Card CMC-EC01 Related Object List Index Name Data Type Attribute PDO Mapping 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Mode of operation INTEGER8 6061h Mode of operation display INTEGER8 6042h vl target velocity INTEGER16 6043h vl velocity demand...

  • Page 33: Homing Mode

    EtherCAT Option Card CMC-EC01 5.2.4 Homing Mode The purpose of homing is to establish the coordinate system of the drive. After the coordinate system is established, the drive can execute the position command given by host. Thirty-five homing modes defined by the CiA402 specification are supported by the drive, including modes such as searching the origin switch, positive and negative limits, and Z pulse.
  • Page 34 EtherCAT Option Card CMC-EC01 Related Object List Index Name Data Type Attribute PDO Mapping 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Mode of operation INTEGER8 6061h Mode of operation display INTEGER8 6065h Following error window UNSIGNED32 6067h Position window UNSIGNED32...

  • Page 35: Cyclic Synchronous Position Mode

    EtherCAT Option Card CMC-EC01 5.2.5 Cyclic Synchronous Position Mode The host plans the path in the cyclic synchronous position mode and sends PDOs periodically. In this mode, when the host computer transmits each PDO, it simultaneously transmits the data of the target position (target position) and the control command (controlword) to the drive.
  • Page 36 EtherCAT Option Card CMC-EC01 Related Object List Index Name Data Type Attribute PDO Mapping 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Mode of operation INTEGER8 6061h Mode of operation display INTEGER8 605Ah Quick stop option code INTEGER16 6064h Position actual value...

  • Page 37: Cyclic Synchronous Torque Mode

    EtherCAT Option Card CMC-EC01 5.2.6 Cyclic Synchronous Torque Mode The host plans the torque in the cyclic synchronous torque mode. In this mode, when the host computer transmits each PDO, it simultaneously transmits the data of target position (target torque) and control command (controlword) to the drive.
  • Page 38 EtherCAT Option Card CMC-EC01 Related Object List Index Name Data Type Attribute PDO Mapping 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Mode of operation INTEGER8 6061h Mode of operation display INTEGER8 606Ch Velocity actual value INTEGER32 6071h Target torque INTEGER16...

  • Page 39: Communication Warning/Fault Codes

    EtherCAT Option Card CMC-EC01 6. Communication Warning/Fault Codes Drive Warning/Fault Codes Warning/Fault Warning/Fault ID No. Description Corrective Actions Code Name Communication time-out Check if communication EtherCAT warning between the system is properly connected. ECto_WARN communication communication card and the Check if connection to the host...

  • Page 40: Sdo Abort Code

    EtherCAT Option Card CMC-EC01 SDO Abort Code SDO Abort Code Description 0x05030000 Bit converting error due to segment transmission 0x05040000 SDO time-out 0x05040001 Client/servo command is invalid or does not exist 0x05040005 Register overflows when executing SDO 0x06010000 Access is not supported...

  • Page 41: Operation Example

    Communication Card: CMC-EC01 Software DIADesigner-AX V1.1.0 or above 1. Connect CMC-EC01 to AX-8 through the EtherCAT port, and connect AX-8 to the computer through the Ethernet port (GLAN1). 2. Open DIADesigner-AX software, and then click New Project CMC-EC01 Operation Manual 41...
  • Page 42 EtherCAT Option Card CMC-EC01 3. In the New Project window, select the Standard project, and then click OK. 4. In the Standard Project window, select the device AX-8xxEP0 Windows Series, Version, PLC_PGR in (program type), and then click OK to create a new project.
  • Page 43 EtherCAT Option Card CMC-EC01 5. After the project is opened, click Tools Device Repository to open the Device Repository  window 6. The Device Repository window appears, and then click Install. CMC-EC01 Operation Manual 43...
  • Page 44 EtherCAT Option Card CMC-EC01 Import the ESI file of C2000 Plus 8. Double-click Device (AX-8xxEP0 Series), and then click Scan Network… CMC-EC01 Operation Manual...
  • Page 45 EtherCAT Option Card CMC-EC01 9. If the computer is correctly connected to the AX-8, the serial number of the connected AX-8 will be displayed. Select the serial number, and then click OK. Then, a device selection page appears. CMC-EC01 Operation Manual 45...
  • Page 46 EtherCAT Option Card CMC-EC01 10. In the Devices window, click EtherCAT_Master (AX-8xxEP0 Series EtherCAT Master), go to the EtherCAT I/O Mapping tab, and verify the Bus Cycle Options is set to EtherCAT_Task. 11. In the Devices window, right-click on the EtherCAT_Master (AX-8xxEP0 Series EtherCAT Master), and then select Scan For Devices…...
  • Page 47 Copy to project. 13. If the window is blank, check if the wiring between CMC-EC01 and AX-8 is correct. If the information below appears in the window, refer to Step 5 to Step 7 mentioned above to make sure ESI file is correctly imported.
  • Page 48 EtherCAT Option Card CMC-EC01 14. In the Devices window, double-click C2000_Plus_CMC_EC01_Card (Delta C2000 Plus EtherCAT (CoE)) to open the tab. Then, check Enable expert settings, and click Expert Process Data at the left side of the tab to configure PDO mapping.
  • Page 49 EtherCAT Option Card CMC-EC01 16. The PDO object mapping window will pop up. Select the PDO object to be mapped. 17. When the steps above are completed, the axis group can be established and PLC programming can be performed. CMC-EC01 Operation Manual 49...

  • Page 50: Delta Plc - Ah10Emc Operation Example (Ecat Builder)

    ECAT Builder V1.07 or above 1. Connect CMC-EC01 to the AH10EMC EtherCAT port, and connect the AH10EMC to the computer through the Ethernet port. 2. Open the COMMGR software, click New Driver menu at the top, select the connection setup type as Ethernet in the Ethernet tab, select the correct Ethernet Card, and then click Search to verify that the AH10EMC appears in the list.
  • Page 51 EtherCAT Option Card CMC-EC01 3. Open ISPSoft software, and then click New (Ctrl+N) to create a new project 4. Select AH MOTION for controller type and AH10EMC for PLC type 5. Click ToolsCommunication Settings CMC-EC01 Operation Manual 51...
  • Page 52 EtherCAT Option Card CMC-EC01 6. Select the name of the communication channel (that is, the Driver Name created in COMMGR in Step 2 mentioned above), and the IP Address of the PLC. 7. In the Project panel, right-click Programs, and then click New to create an empty program.
  • Page 53 EtherCAT Option Card CMC-EC01 8. Click Download to PLC to make sure that the PLC program can be run. If so, the connection between computer and PLC is completed. PLC programs can be edited after EtherCAT connection configuration is established.
  • Page 54 ECAT Builder software and configure ECAT master/slave related settings. 11. Click Scan Network, click Scan in the pop-up window, and select CH2000 (CMC-EC01) to import to the network. If the CH2000 device is not found, check if the wiring is correct, or refer to the following sections regarding ESI importing process to import the ESI file of the slave device, and then scan.
  • Page 55 EtherCAT Option Card CMC-EC01 CMC-EC01 Operation Manual 55...
  • Page 56 EtherCAT Option Card CMC-EC01 12. After CH2000 has been imported into the Network View, click the CH2000 device to perform PDO Mapping, and then click Edit to add or delete objects. CMC-EC01 Operation Manual...
  • Page 57 EtherCAT Option Card CMC-EC01 13. After editing is completed, click Downloader to download all configurations to AH10EMC. After closing ECAT Builder and HWCONFIG software, PLC programs can be written in ISPSoft. CMC-EC01 Operation Manual 57...
  • Page 58 EtherCAT Option Card CMC-EC01 How to import the ESI file  Click DDF Manager and follow the steps to import the ESI file. ESI files can be downloaded from Deltas official download center ( see Section 2.5 for more information).

  • Page 59: Appendix A. Object Descriptions

    EtherCAT Option Card CMC-EC01 Appendix A. Object Descriptions A.1 Object Specifications A.1.1 Object Type Object Type Description Variable A single value, such as a UNSIGNED8, Boolean, float, INTEGER16, etc. Objects with multiple data fields composed of multiple variables of the same data type, Array such as UNSIGNED16 arrays, etc.

  • Page 60: Object Dictionary

    EtherCAT Option Card CMC-EC01 A.2 Object Dictionary A.2.1 OD 1000h Communication Group Index Object Type Name Data Type Attribute 1000h Variable Device type UNSIGNED32 1001h Variable Error register UNSIGNED8 1008h Variable Device name STRING 100Ah Variable Software version STRING 1018h...
  • Page 61 EtherCAT Option Card CMC-EC01 Index Object Type Name Data Type Attribute Mapping 6071h Variable Target torque UNSIGNED32 6072h Variable Max torque UNSIGNED32 6075h Variable Motor rated current UNSIGNED32 6077h Variable Torque actual value INTEGER16 6078h Variable Current actual value INTEGER16...

  • Page 62: Object Details

    EtherCAT Option Card CMC-EC01 A.3 Object Details A.3.1 OD 1000h Communication Group Object 1000h: Device type Index 1000h Name Device type Object Type Variable Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED32 Object 1001h: Error register Index...
  • Page 63 EtherCAT Option Card CMC-EC01 Object 1018h: Identity Index 1018h Name Identity Object Type RECORD Read/write Permission PDO Mapping Setting Sub-Index Name SubIndex 000 Data Type UNSIGNED8 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED8 Sub-Index Name Vendor ID Data Type...
  • Page 64 EtherCAT Option Card CMC-EC01 Object 1600h–1603h: Receive PDO Mapping Parameter Index 1600h / 1601h / 1602h / 1603h Name Receive PDO mapping Object Type RECORD Data Type PDO mapping Read/Write Permission PDO Mapping Setting The total length of objects in a group of PDOs...
  • Page 65 EtherCAT Option Card CMC-EC01 enable the function Default Sub-Index 1–8 Name Mapping entry (n) Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED32 Default Object 1C12h: RxPDO assign Index 1C12h Name RxPDO assign Object Type ARRAY Data Type...
  • Page 66 EtherCAT Option Card CMC-EC01 Sub-Index Name Number of assigned TxPDOs Data Type UNSIGNED8 Read/Write Permission PDO Mapping Setting Setting Range 0–1 Default Sub-Index Name Index of assigned TxPDO Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Setting Range 0x1A00 / 0x1A01 / 0x1A02 / 0x1A03...

  • Page 67: Od 3000H Drive Group

    EtherCAT Option Card CMC-EC01 A.3.2 OD 3000h Drive Group Index 300Xh Name Driver parameter Object Type Variable Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED16 Default Access/change drive parameters using this object group, and drive parameters can only be changed through SDO.
  • Page 68 EtherCAT Option Card CMC-EC01 PDO Mapping Setting Unit Pulse Sub-Index Name [2102h] Frequency command 1 Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2103h] Output frequency Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse...
  • Page 69 EtherCAT Option Card CMC-EC01 Sub-Index Name [2108h] Max output torque Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2109h] Trigger count Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [210Ah] PF angle...
  • Page 70 EtherCAT Option Card CMC-EC01 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [210Fh] Output power Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Object 3022h: Driver info table 2 Index 3022h Name Driver info table 2 Object Type...
  • Page 71 EtherCAT Option Card CMC-EC01 Sub-Index Name [2203h] DC-BUS voltage Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2204h] Output voltage Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2205h] Output power angle...
  • Page 72 EtherCAT Option Card CMC-EC01 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [220Bh] AVI value Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [220Ch] ACI value Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit...
  • Page 73 EtherCAT Option Card CMC-EC01 Sub-Index Name [2211h] DO status Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2212h] Multi-speed step Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2213h] CPU DI status...
  • Page 74 EtherCAT Option Card CMC-EC01 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2218h] Position error Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2219h] Overload Counting Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit...
  • Page 75 EtherCAT Option Card CMC-EC01 Sub-Index Name [221Eh] User page displays Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [221Fh] Output Value of Pr.00-05 Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2220h] Number of motor turns...
  • Page 76 EtherCAT Option Card CMC-EC01 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2226h] Driver status Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2227h] Actual torque Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit...
  • Page 77 EtherCAT Option Card CMC-EC01 Sub-Index Name [222Ch] PG1 Pulse In, L W Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [222Dh] PG1 Pulse In, H W Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse...
  • Page 78 EtherCAT Option Card CMC-EC01 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2234h] Aux+Main Frequency Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Pulse Sub-Index Name [2235h] KTY84 or PTC Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting...
  • Page 79 EtherCAT Option Card CMC-EC01 Unit Sub-Index Name [2640h] DO Set Value Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit Sub-Index Name [2641h] Output Terminal Buffer Status 1 Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Unit CMC-EC01 Operation Manual 79...

  • Page 80: Od 6000H Communication Object Group

    EtherCAT Option Card CMC-EC01 A.3.3 OD 6000h Communication Object Group Object 6007h: Abort connection option code Index 6007h Name Abort connection option code Object Type Variable Data Type INTEGER16 Read/Write Permission PDO Mapping Setting 0: No action Setting Range 2: Switch on Disable...
  • Page 81 EtherCAT Option Card CMC-EC01 Bit Description Function Description Bit 0 Switch on Bit 1 Enable voltage Bit 2 Quick stop Bit 3 Enable operation Bit 4–6 Operation mode specific See the table of Definition of Each Mode below. Bit 7...
  • Page 82 EtherCAT Option Card CMC-EC01 The state switch is defined in the table below: State Switch Event Action 0, 1 Executes automatically after power-on Device start-up and initialization Shutdown command None Switch on command Drive is ready to serve on Drive is servo on and executes...
  • Page 83 EtherCAT Option Card CMC-EC01 Object 6041h: Statusword Index 6041h Name Statusword Object Type Variable Data Type UNSIGNED16 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED16 Default Bit Description Function Description Bit 0 Ready to switch on Bit 1 Switched on...
  • Page 84 EtherCAT Option Card CMC-EC01 Definition of Each Mode Definition of Each Mode Homing Target Target Target Target Bit 10 reached reached reached reached Homing Bit 12 reached Following Homing Following Following Bit 13 error error error error Object 6042h: vl target velocity...
  • Page 85 EtherCAT Option Card CMC-EC01 Object 604Fh: vl ramp function time Index 604Fh Name vl ramp function time Object Type Variable Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED32 Default 10000 Unit This object is the time it takes to accelerate from 0 RPM to 6042h in Velocity Mode.
  • Page 86 EtherCAT Option Card CMC-EC01 Object 605Ah: Quick stop option code Index 605Ah Name Quick stop option code Object Type Variable Data Type INTEGER16 Read/Write Permission PDO Mapping Setting 0: Disable drive function 1: Decelerate to stop using slow down ramp and...
  • Page 87 EtherCAT Option Card CMC-EC01 Setting Value Operation Reserved Profile Position Mode Velocity Mode Reserved Profile Torque Mode Reserved Homing Mode Cyclic Synchronous Position Mode Reserved Cyclic Synchronous Torque Mode Object 6061h: Modes of operation display Index 6061h Name Modes of operation display...
  • Page 88 EtherCAT Option Card CMC-EC01 Object 6064h: Position actual value Index 6064h Name Position actual value Object Type Variable Data Type INTEGER32 Read/Write Permission PDO Mapping Setting Setting Range INTEGER32 Unit Pulse This object is the position actual value feedback by the drive in Profile Position Mode.
  • Page 89 EtherCAT Option Card CMC-EC01 In Profile Position Mode, when the absolute value of the error between Target Position (607Ah) and Position actual value (6064h) is less than this object (6067h), and the error time is less than Position window time (6068h), bit 10 (Target Reached) of Statusword (6041h) will be outputted.
  • Page 90 EtherCAT Option Card CMC-EC01 Object 6071h: Target torque Index 6071h Name Target torque Object Type Variable Data Type INTEGER16 Read/Write Permission PDO Mapping Setting Setting Range INTEGER16 Default Unit 0.1% (motor rated torque) Target torque is outputted, and unit is 0.1% of the motor rated torque.
  • Page 91 EtherCAT Option Card CMC-EC01 Object 6077h: Torque actual value Index 6077h Name Torque actual value Object Type Variable Data Type INTEGER16 Read/Write Permission PDO Mapping Setting Setting Range INTEGER16 Unit 0.1% (motor rated torque) This object displays the torque percentage currently outputted by the motor. Unit is 0.1% of the motor rated torque.
  • Page 92 EtherCAT Option Card CMC-EC01 Object 607Ch: Home offset Index 607Ch Name Home offset Object Type Variable Data Type INTEGER32 Read/Write Permission PDO Mapping Setting Setting Range INTEGER32 Default Unit Pulse This object is in Homing Mode. After the origin reference point is defined, offset this setting value is to define the origin of the user.
  • Page 93 EtherCAT Option Card CMC-EC01 Read/Write Permission PDO Mapping Setting Setting Range -2147483648 ~ +2147483647 Default Unit Pulse When setting this value, note that Max position limit (607Dh sub-index 1) must be larger than Min position limit (607Dh sub-index 2). Object 6080h: Max motor speed...
  • Page 94 EtherCAT Option Card CMC-EC01 Object 6083h: Profile acceleration Index 6083h Name Profile acceleration Object Type Variable Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Maximum: 6081h 0.01 Setting Range Minimum: 6081h 655.35 Default 72000 Unit Pulse/sec This object is used in the position planning mode (Profile Position Mode), and corresponds to the drive Pr.11-44.
  • Page 95 EtherCAT Option Card CMC-EC01 Object 6085h: Quick stop deceleration Index 6085h Name Quick stop deceleration Object Type Variable Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Refer to drive Pr.01-45 When Pr.01-45=0 Pr.01-00 Maximum: × × PPR 0.01 pole Pr.01-00 Minimum: ×...
  • Page 96 EtherCAT Option Card CMC-EC01 Object 6091h: Gear ratio Index 6091h Name Gear ratio Object Type Array Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED32 Sub-Index Name SubIndex 000 Data Type UNSIGNED8 Read/Write Permission PDO Mapping Setting Sub-Index...
  • Page 97 EtherCAT Option Card CMC-EC01 Object 6099h: Homing speeds Index 6099h Name Homing speeds Object Type Variable Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Setting Range UNSIGNED32 Sub-Index Name SubIndex 000 Data Type UNSIGNED8 Read/Write Permission PDO Mapping Setting Sub-Index...
  • Page 98 EtherCAT Option Card CMC-EC01 Object 609Ah: Homing acceleration Index 609Ah Name Homing acceleration Object Type Variable Data Type UNSIGNED32 Read/Write Permission PDO Mapping Setting Maximum: 6099h-01 0.01 Setting Range Minimum: 6099h-01 Default Unit Pulse/sec This object is the time it takes to accelerate/decelerate from 0 RPM to Homing speeds (6099h) sub- index 1 (Speed during search for switch) in Homing Mode.

  • Page 99: Reference Table Of Cia402 Object And Drive Pr. Unit

    EtherCAT Option Card CMC-EC01 A.4 Reference Table of CiA402 Object and Drive Pr. Unit Object and Drive Pr. Conversion Formula 6081 Pr.10-17 6081 (pulse/s) → Pr.11-43 (Hz) Pr.11-43 = × × Pr.10-18 6081 6083 (pulse/s ) → Pr.11-44 (s) Pr.11-44 =...

  • Page 100: Appendix B. Revision History

    EtherCAT Option Card CMC-EC01 Appendix B. Revision History Issued Issued Date Application Revision History Edition February, 2023 (1) Drive Firmware First edition. Version: C2000 NOTE: To align with the operation manual in Chinese Plus V3.07 / version, the issued edition of English version starts CH2000 V2.07 or...

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